61 results about "Mars rover" patented technology

The invention relates to a novel Mars rover which is mainly used to solve the problem that after the wheel surface is damaged, there is no way to repair and adjust an opening angle mechanism to make the Mars rover complete a series of movements. According to the novel Mars rover, wheels and master arm suspensions are symmetrically distributed on both sides of a vehicle main body, and each wheel isformed by an axle, a base and wheel pieces. The wheel pieces are spliced one by one and made of spaceflight rubber. If some wheel pieces are abraded, the damaged wheel pieces can be dismantled in a splicing mode and replaced with new ones. Each master arm suspension is composed of a main rocker arm and an auxiliary rocker arm on the two sides and a differential mechanism. The main rocker arm andthe auxiliary rocker arm are hinged to each other, a clutch is added at the position of a hinged point, the main rocker arm is formed by a main rocker arm long arm and a main rocker arm short arm, andan opening angle adjusting mechanism is arranged between the main rocker arm long arm and the main rocker arm short arm. When a clutch does not work or in a locked state, the folding and unfolding, wriggle and wheel lifting movements of the Mars rover are controlled by adjusting the opening angle mechanism. The novel Mars rover is used for scientific detection on the surface of Mars.

An inflatable docking station for a Mars roving vehicle (Mars rover) provides a recharging station as well as a storage facility for the Mars rover during adverse environmental conditions. The docking station / garage allows for extended operational life for the Mars Rover, allows for the Mars rover to operate at the polar regions of Mars, where extreme cold conditions restrict rover operation, and provides for a warmer habitat for the Mars rover. Conventional planetary roving vehicles only be deployed from the warmer equator region of the planet surface. However, these roving vehicles may never explore the polar regions because the roving vehicle may not have enough stored power. The docking station / garage provides a remote outpost for, among other things, storing and recharging the Mars Rover to allow it to reach more remote areas.

The invention relates to a Mars rover moving mechanism, in particular to an active suspension type Mars rover moving mechanism. The active suspension type Mars rover moving mechanism solves the problems that in existing Mars rover moving mechanisms, the suspension structure is complex, unfolding mechanisms are additionally arranged, the mechanism movement is complex, repeated unfolding cannot be achieved and the size of driving mechanisms is excessively large. An output shaft at one end of a differentiator is connected to a first field angle regulator, an output shaft at the other end of the differentiator is connected to a second field angle regulator, the two output shafts of the differentiator are coaxial with the first field angle regulator and the second field angle regulator respectively, and the first field angle regulator and the second field angle regulator are installed on the upper end surface of a rover compartment floor in a bilateral symmetry mode. One end of a first main long rocker arm is fixedly arranged on an external output shaft of the first field angle regulator in a sleeving mode, one end of a first main short rocker arm is fixedly arranged on an internal output shaft of the first field angle regulator in a sleeving mode, and the other end of the first main long rocker arm is connected to the upper part of a first auxiliary rocker arm through a first main and auxiliary rocker arm clutch. The active suspension type Mars rover moving mechanism is used for Mars exploration.

The invention discloses a mars rover elastic wheel. The mars rover elastic wheel comprises a hub, arc-shaped elastic spokes, a wheel surface and excessive deformation protection mechanisms, wherein the hub is cylindrical and one end of the hub is connected with an axle; the hub and the wheel surface are connected through the arc-shaped elastic spokes, one end of each arc-shaped elastic spoke is evenly fixed at equal intervals in the peripheral circle of the hub, and the other end of the arc-shaped elastic spoke is fixed at the inner side of the wheel surface; each excessive deformation protection mechanism comprises a support rod and a top plate. The top plate is supported by the support rod and fixed in the peripheral circle of the hub. The top plate is located between the hub and the wheel surface; the mars rover elastic wheel has a simple structure, the wheel surface has a large deformability, the mars rover elastic wheel has strong recovery, and has a strong adaptability to low-gravity and complex road conditions on the surface of Mars.

The invention discloses an autonomous dormancy and awakening control method for a Mars rover, provides a basis for selecting an autonomous dormancy strategy under a relatively sufficient energy working condition or an autonomous dormancy strategy under an energy shortage working condition on a device, and improves the use flexibility of the autonomous dormancy strategy. According to the peak electric quantity of the Mars rover in each Mars day, whether the Mars rover needs to enter a dormant state or carry out a minimum working mode is judged, and the Mars rover can autonomously recover to a normal working mode from the minimum working mode after the energy condition is improved; the method is suitable for the Mars rover to sleep as soon as possible after sand and dust are detected on thefire surface, sufficient electric quantity can be kept after the Mars rover sleeps, and a basis is provided for charging in the minimum working mode after subsequent awakening to restore energy balance. In combination with the peak electric quantity of the Mars rover in each Mars day and the current real-time electric quantity of the Mars rover, whether the Mars rover needs to enter dormancy is judged together; the strategy is suitable for being used after awakening, and aims to use the storage battery as much as possible to maintain power supply without dormancy after awakening, and protect the storage battery from being over-discharged at the same time.

The invention discloses a multipurpose moving device which comprises a middle axle, a front cantilever, a rear cantilever, a tire assembly and a steering motor. The two ends of the middle axle are connected with a front cantilever and a rear cantilever, one end of the front cantilever is connected with the middle axle, the other end of the front cantilever is connected with the tire assembly through the steering motor, one end of the rear cantilever is connected with the middle axle, and the other end of the rear cantilever is connected with a tire assembly through a steering motor; the tire assembly comprises a tire body, a driving motor used for independently driving the tire body and a universal support, and the universal support is provided with a rotary fixing part and a direct fixing part. The moving device can be configured into four-wheel, six-wheel, eight-wheel and other structures by replacing different structures of the moving device, can be used as a mobile device of patrol devices such as a lunar rover and a Mars rover, is flexible and changeable in structure and simple in structure assembly through detachable and universal design, can be used under various working conditions, and the universality, expandability and functionality of the moving device are enhanced substantially.

The invention provides a Mars rover moving system traction performance test device, andbelongs to the technical field of Mars detection test equipment. The test device comprises a support base for supporting a tested Mars rover; aresistance moment loading mechanism which is used for being connected with wheels of the tested Mars rover and loading resistance moment to the wheels of the tested Marsrover; a traction loading mechanism which is used for being connected with a body of a tested Mars rover and applying traction force to thetested Mars rover in the walking process of the Mars rover; and a vacuum tank and temperature control mechanism which is used for containing the tested Mars rover and controlling the control vacuum degree and temperature of the test environment. The resistancemomentloading mechanism and the traction force loading mechanism are both arranged in the vacuum tank and temperature control mechanism. Compared with the prior art, the performance test of the Mars rover moving system on the ground can be realized, the wheel load and the wheel resistance moment required by different geomorphic characteristics can be simulated, and the requirements of 0-3000N traction force loading technical indexes and loading precision can be met.

The invention discloses a Mars rover wheel endurance testing stand composed of a rack, a soil tank, a control system and a transmission system. The rack is arranged on the soil tank; the control system is fixedly arranged on the upper end of the rack; the upper end of the transmission system is fixedly arranged on the rack; and the lower end of the transmission system is arranged on the soil tank. Before the test, a model wheel is mounted on a motor shaft; the wear test, working time and working energy consumption under different conditions are simulated by changing the angle between the wheel and the soil tank, the load size and the rotating speed to obtain durability test results. The working time and working power consumption are displayed on a display panel in real time, and an endurance test result is obtained. The Mars rover wheel endurance testing stand of the invention is simple to operate, and is safe and reliable. The Mars rover wheel endurance testing stand can examine the durability of a Mars rover wheel under different road conditions, realizes an effect of multiple test conditions, increases test diversity and can output data such the test rotary speed, the test time and energy consumption through a data collector so as to facilitate recording.

The invention provides a Mars rover moving system vibration loading mechanism and a performance testing device and belongs to the technical field of Mars detection testing equipment. The mechanismis used for carrying out vibration loading on a tested Mars rover and comprises a first vibration platform, a vibration loading assembly and a second vibration platform which are sequentially arranged from top to bottom, the first vibration platform is used for being arranged at the bottom of a wheel of the tested Mars rover, the vibration loading assembly is arranged between the first vibration platform and the second vibration platform, and the vibration loading assembly is connected with the second vibration platform. Compared with the prior art, the amplitude and frequency of the wheels are adjusted through the eccentric distance adjusting structure, single-degree-of-freedom vibration loading of the tested Mars rover within the range of 0-10 Hz is achieved, the mechanismis simple, testingis accurate, and precision is high.

The invention discloses a design method of a Mars rover capable of vertically taking off and landing. According to the method, when a Magnus rotor horizontally arranged on a rover body rotates, the principle that a lifting force vertical to the airflow direction can be generated under the action of airflow is utilized. The design method comprises the steps: 1, designing a rotor speed ratio: simulating the influence of different rotor speed ratios alpha on the aerodynamic characteristics of the Magnus rotor, and obtaining the speed ratio alpha of the Magnus rotor; 2, designing a combined mode of the Magnus rotor: simulating the influence of the combination design of different Magnus rotors on the aerodynamic performance of the Magnus rotors to obtain the combination of a plurality of Magnusrotors; 3, manufacturing a prototype: assembling the Magnus rotor combination mode obtained in the step 2 on a vehicle body to obtain a Mars rover model; and 4, under the simulated Mars environment,determining whether the Mars rover model manufactured in the step 3 can work normally in the Mars atmosphere environment or not, and optimizing the combination mode of the Magnus rotors to obtain thefinal Mars rover.

The invention provides a Mars rover moving system vibration loading mechanism and a performance testing device and belongs to the technical field of Mars detection testing equipment. The mechanismcomprises a first vibration platform, a cam structure and a second vibration platform which are sequentially arranged from top to bottom, the first vibration platform is connected with the cam structure,the first vibration platform is further connected with the second vibration platform through an elastic structure, and the first vibration platform is arranged at the bottom of a wheel of the tested Mars rover. Compared with the prior art, performance testing is completed through a cam structure with the variable eccentric distance, the amplitude and frequency of wheels are adjusted, single-degree-of-freedom vibration loading of thetested Mars rover within the range of 0-10 Hz is achieved, the structure is simple, testing is accurate, and precision is high.

The invention discloses a separable wireless networking imaging system and an imaging method suitable for extraterrestrial celestial body detection. The imaging system comprises a wireless control unit and a plurality of wireless cameras, the wireless control unit and the wireless cameras adopt a wireless connection communication mode, and the wireless cameras are divided into a fixed type and a separated type, so that the problem of third-view-angle imaging of extraterrestrial celestial body detection is solved, independent imaging on the extraterrestrial celestial body is realized, and the imaging efficiency is improved. Image and video data with more unique visual angles are obtained, the visuality and the display degree of key link engineering state monitoring are better achieved, and the effect that human beings obtain process images of a Mars rover moving on the surface of Mars for the first time is achieved.

The invention discloses a Mars rover exploration task efficient autonomous operation method, which fills the blank of implementing an exploration task control method under a low uplink code rate and high delay measurement and control link in the deep space exploration field. According to the technical scheme, the method comprises the steps that firstly, a parameterized instruction template is formed through an instruction sequence corresponding to a typical detection task of a Mars rover; and then task scheduling models corresponding to the detection tasks are formed and stored in a Mars rover data management computer. Ground user personnel determines key task parameters required for completing the instruction sequence according to actual task requirements, and sends the key task parameters to the Mars rover data management computer according to an agreed task data interface form. After receiving the key task parameters, the Mars rover data management computer starts to plan a mechanism maneuvering path if judging that preconditions are met, selects a corresponding scheduling model to call a related parameterized instruction template, fills in a mechanism moving target, task duration and related load parameters, and autonomously generates a complete task instruction sequence.

The invention discloses a Mars rover GNC system physical model construction method based on information physical fusion. According to a communication protocol and design parameters of a Mars rover GNCsystem, a physical model of each part of single machine is established; after interface debugging, parameter debugging is carried out on the physical model through test data; and physical model parameter adjustment is achieved, and the operation state of the Mars rover at the next moment is calculated through the adjusted physical model, so that the problem that a traditional Mars rover GNC system model can only simulate the input quantity and the output quantity of a single-machine product and cannot comprehensively analyze the operation state of the Mars rover due to the fact that influences of other physical quantities are ignored is solved.

The invention provides a Mars rover moving system performance testing device, and belongs to the technical field of Mars detection testing equipment. The testing device comprises a resistance torque loading mechanism used for being connected with wheels of a tested Mars rover and loading resistance torque to the wheels of the tested Mars rover; avibration loading mechanism which is used for beingarranged at the bottom of the tested Mars rover and carrying out vibration loading on the tested Mars rover; atemperature control cabin which is used for arranging the tested Mars rover in the temperature control cabin and controlling the test temperature of the tested Mars rover; and afixing frame which is connected with the resistance torque loading mechanism and the temperature control cabin. Compared with the prior art, the strength and fatigue resistance of the Mars rover moving system on the ground can be tested.

The invention discloses a multipurpose robot which comprises a moving device, an intelligent carrying platform arranged on the moving device and a modular load detachably connected with the intelligent carrying platform, and the modular load at least comprises one or more of an actuator suite, an environment sensing suite, a comprehensive interaction suite and a solar cell module. The intelligent carrying platform comprises a programmable controller, a fixed mounting area and a universal mounting area, the programmable controller is electrically connected with the moving device and the modular load, the fixed mounting area is provided with a fixed connecting piece used for detachably mounting the modular load, and the universal mounting area is provided with a universal connecting piece used for structure function expansion. Through combination of different modules and the characteristic of repeatable programming, the requirements of different tasks can be rapidly met, robots such as lunar rovers and Mars rovers suitable for different planetary surface characteristics are achieved, meanwhile, the platform and the modules can be independently developed, and the time and cost of subsequent function expansion and upgrading can be reduced.

The invention provides a Mars rover, and relates to the technical field of Mars rovers. The Mars rover comprises a plurality of wheel leg assemblies. Each wheel leg assembly comprises a wheel body, a connecting rod mechanism and a first fixing base, wherein each connecting rod mechanism is connected with the corresponding wheel body at a first position and a second position to form a first joint and a second joint, and each connecting rod mechanism and the corresponding wheel body are provided with four rotating joints; the first fixing bases are rotationally connected with the connecting rod mechanisms to form fifth joints; the four rotating joints are suitable for acting together to achieve relative position adjustment of the fifth axis of the corresponding fifth joint and the sixth axis of the corresponding wheel body. According to the Mars rover, through the combined action of the four rotating joints, the fifth axis of the corresponding fifth joint can move relative to the axis of the corresponding wheel body, so that the eccentric distance of the wheel bodies is adjusted, eccentric walking or leg type walking can be achieved through the wheel leg assemblies, and the passing capacity of the Mars rover on the complex terrain of the surface of Mars is high.

The invention discloses an optimization implementation method of a Mars rover for a surround antenna pointing algorithm, which is characterized in that the longitude and latitude heights and attitudeangles of a Mars rover in two calculation processes are completely the same during antenna pointing calculation in the same round of antenna control process, so that a plurality of intermediate variables exist; after the first calculation, the first calculation result can be directly used in the residual control process; in addition, the Mars rover antenna installation deviation matrix is completely fixed in the whole satellite life period, so that the method utilizes the characteristic to calculate the conversion matrix from the antenna system to the satellite system in advance, and stores the calculation result in the satellite-borne memory; in the antenna pointing calculation process, calculation is not needed in the calculation step from an antenna system to a satellite body system conversion matrix, but matrix data in a memory is directly read, and the calculation amount of a satellite-borne processor is effectively reduced.

The invention relates to a Mars rover visual navigation method combining a global map and a local map, and belongs to the field of high-precision navigation of extraterrestrial stars. The method comprises the following steps: 1, an unmanned aerial vehicle takes off, an airborne camera is used to image the terrain of a to-be-detected area around a Mars rover, and the terrain image is sent to the Mars rover; 2, the Mars rover reconstructs the topographic image into a global three-dimensional map, and selects a target point in the global three-dimensional map; 3, the Mars rover moves to a target point; the Mars rover realizes local obstacle avoidance through the binocular camera; 4, in the moving process of the Mars rover, the unmanned aerial vehicle monitors the position of the Mars rover in real time and sends the position information of the Mars rover to the Mars rover, the Mars rover obtains the position of the Mars rover in the global three-dimensional map, and large-scale obstacles are avoided; 5, the Mars rover combines the binocular camera and the global three-dimensional map to improve the global navigation precision. According to the invention, the global positioning capability of the extraterrestrial star probe vehicle is improved, and the efficiency of scientific detection is effectively improved.

The invention provides a multi-band multi-channel combined deep-space relay system for a surround device, which is characterized in that a UHF relay communication machine is connected with a UHF microwave network, and a UHF receiving antenna and a UHF transmitting antenna are connected with the UHF microwave network; the UHF receiving antenna and the UHF transmitting antenna are used for connecting a lander / satellite vehicle UHF transceiver; the X relay communication machine is connected with the X relay receiving microwave switch, the X relay receiving microwave switch is connected with the X relay two-dimensional driving mechanism, and the X relay two-dimensional driving mechanism is connected with the X relay receiving antenna; and the X relay receiving antenna is used for connecting an X-band deep space responder of the Mars rover. High-speed interaction between lander front return data and the earth is achieved through the relay forwarding system, the defect that the lander is poor in direct ground measurement and control data transmission link capacity is overcome, and the method is not only suitable for Mars exploration tasks, but also can be used as reference for subsequent deep space and remote exploration tasks.

The invention relates to a Mars rover task planning model establishment method and device, electronic equipment and a medium, and the method comprises the steps: determining a corresponding task according to an obtained first sky-ground environment state, determining a corresponding second sky-ground environment state of a Mars rover in the first sky-ground environment state after the Mars rover executes the task, and for each task, establishing a second sky-ground environment state of the Mars rover in the second sky-ground environment state; determining a reward value corresponding to the task according to the task and the target heaven and earth environment state, updating the value of an element corresponding to the task in the state task value function corresponding to the first heaven and earth environment state, taking the second heaven and earth environment state as a new first heaven and earth environment state, and repeating the above process. And when the execution accumulation time corresponding to each task reaches a preset task planning duration, completing a training period, executing n training periods, and when the total reward value corresponding to the nth time meets a training ending condition, obtaining a task planning model. According to the method, the Mars rover task planning efficiency can be improved.

The invention discloses a Mars image augmentation method based on a generative adversarial network, and belongs to the technical field of image augmentation in computer vision. The Mars image augmentation method aims at solving the problems that an existing Mars image augmentation method is low in resolution, image types cannot be controlled, and training is unstable. Comprising the following steps: an image generation network based on a DCGAN performs fine image generation by using a progressive network training method aiming at the problem that the DCGAN is difficult to generate a high-quality high-resolution Mars image; aiming at the problem that the GAN cannot control the generation of a target type Mars image, a style migration technology is introduced to design a controllable Mars image generation method; in order to solve the problem that the Mars rover is difficult to autonomously complete training due to unstable DCGAN training, a new loss function is designed based on a Wasserstein distance. The method is used for mars image augmentation.

The invention discloses a wheel-step type Mars rover walking system. A center shaft piece of a vehicle body is horizontally installed in the middle of the interior of a vehicle body shell, the two ends of the center shaft piece penetrate out of the two sides of the vehicle body shell respectively and then are connected with driving steering assemblies respectively, and the two driving steering assemblies are symmetrically arranged on the two sides of the lower portion of the vehicle body shell. Each driving and steering assembly comprises a driving device and a steering device, the driving device is hinged to one end of the center shaft piece, the steering device is fixedly connected to the same end of the center shaft piece connected with the driving device, and the driving device is located behind the steering device. The wheel-step combined type main and auxiliary rocker arm type advancing is adopted, the wheel type and the step type can be flexibly switched in the climbing and obstacle crossing process, the propelling efficiency is greatly improved, the structure is simple, the mass is small, the size is compact, maintenance is convenient, the overall propelling stability is good, the robot is suitable for different landforms, and the better obstacle crossing capacity is achieved.

The invention discloses a detection aircraft, comprising: a wing, the wing is an airfoil, the wing is provided with an energy supply system, and a detection device is provided on the wing; a Magnus rotor, the The Magnus rotor is rotatably installed on the front end of the wing, and the Magnus rotor is arranged parallel to the front end of the wing, and the energy supply system is connected with the Magnus rotor to drive the The Magnus rotor rotates; the parafoil is arranged on the upper surface of the wing, and the energy supply system is electrically connected with the parafoil to supply energy to the parafoil. This application detects that the Magnus rotor is installed on the leading edge of the wing. During the cruising process, the Magnus rotor can provide greater lift for the wing during the rotation process, and the Magnus rotor Under the low density and low dynamic pressure conditions of the outer planetary atmosphere, it can provide the necessary lift demand for the Mars probe by changing the rotation speed and other measures.

The invention discloses a system error self-compensation method for taking Mars images based on a navigation sensor, which directly uses the Mars images taken by the Mars navigation sensor to realize high-precision identification and compensation of errors in the autonomous navigation system, and obtains more accurate results. Mars rover autonomous navigation information. This method mainly includes four steps: 1) Introduce the error model of the Mars integral imaging autonomous navigation system, and establish the Mars autonomous navigation system including system errors such as optical axis deviation and attitude determination deviation; 2) Find the conditional expectation of the system error during the navigation period , to calculate the system error value when the conditional expectation is maximum; 3) replace the updated system error value with the Mars navigation system and update iteratively; 4) update the Mars autonomous navigation system with the converged system error value to compensate the system error, and obtain Subsequent precise navigation results.

The invention relates to an error compensation method for a Mars rover APS sun sensor. According to the method, the coordinates of the mass center of a solar hot spot are corrected by using the idea of camera distortion correction, a cubic polynomial of the theoretical coordinate position and the actual mass center position of the mass center of the solar hot spot is established, and the coefficient of the cubic polynomial is obtained by using a least square method; An angle residual error after coordinate compensation is solved by adopting a secondary compensation thought, and the problem of rapid positioning of an angle compensation curve is solved. The calculation amount is reduced to two times of third-order polynomial calculation and two times of seventh-order polynomial calculation, the precision reaches 0.03 degree (3 sigma) after error compensation, the calculation amount is reduced, the product updating rate is increased, and the product precision is improved.

The invention discloses a high-precision special measuring and adjusting detection method for a solar heat collection window of a spacecraft, and the method comprises the following steps: S1, carrying out positioning of a special tool for measurement: carrying out zero calibration of a depth gauge through a high-precision plane, and carrying out calibration on a process plate for the installation of the heat collection window; S2, performing preliminary installation of steel wires of the semi-rigid membrane support structure: completing installation of the membrane support structure according to the requirements of the model, and ensuring that the intersection position of the two steel wires is parallel to the upper surface of the top plate; and S3, performing semi-rigid membrane support transverse and longitudinal steel wire measurement: determining the highest position of the transverse and longitudinal steel wires by means of a one-dimensional guide rail, measuring the highest position, locking the depth gauge, determining the height through three times of measurement, and recording the marking position and measurement data. According to the invention, the stability of the measuring tool is high, the top plate of the Mars rover is used as a direct reference during measurement, the reliable fixation of the measuring tool is realized, the measurement error caused by manual operation in the measurement process is avoided, and the stability of a test system is improved.